GB2450206B - Robotic end effector and clamping method - Google Patents

Robotic end effector and clamping method

Info

Publication number
GB2450206B
GB2450206B GB0808567A GB0808567A GB2450206B GB 2450206 B GB2450206 B GB 2450206B GB 0808567 A GB0808567 A GB 0808567A GB 0808567 A GB0808567 A GB 0808567A GB 2450206 B GB2450206 B GB 2450206B
Authority
GB
United Kingdom
Prior art keywords
end effector
clamping method
robotic end
robotic
clamping
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
GB0808567A
Other versions
GB0808567D0 (en
GB2450206A (en
Inventor
Christopher D Condliff
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Boeing Co
Original Assignee
Boeing Co
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US11/747,563 external-priority patent/US8549723B2/en
Application filed by Boeing Co filed Critical Boeing Co
Publication of GB0808567D0 publication Critical patent/GB0808567D0/en
Publication of GB2450206A publication Critical patent/GB2450206A/en
Application granted granted Critical
Publication of GB2450206B publication Critical patent/GB2450206B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/02—Riveting procedures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/14—Riveting machines specially adapted for riveting specific articles, e.g. brake lining machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/16—Drives for riveting machines; Transmission means therefor
    • B21J15/20—Drives for riveting machines; Transmission means therefor operated by hydraulic or liquid pressure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/28—Control devices specially adapted to riveting machines not restricted to one of the preceding subgroups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49826—Assembling or joining
    • Y10T29/49908—Joining by deforming
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53039—Means to assemble or disassemble with control means energized in response to activator stimulated by condition sensor
    • Y10T29/53061—Responsive to work or work-related machine element
    • Y10T29/53065—Responsive to work or work-related machine element with means to fasten by deformation

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
GB0808567A 2007-05-11 2008-05-12 Robotic end effector and clamping method Active GB2450206B (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US11/747,563 US8549723B2 (en) 2007-05-11 2007-05-11 Method and apparatus for squeezing parts such as fasteners
US11/924,802 US8096038B2 (en) 2007-05-11 2007-10-26 Robotic end effector and clamping method

Publications (3)

Publication Number Publication Date
GB0808567D0 GB0808567D0 (en) 2008-06-18
GB2450206A GB2450206A (en) 2008-12-17
GB2450206B true GB2450206B (en) 2009-12-09

Family

ID=39571175

Family Applications (1)

Application Number Title Priority Date Filing Date
GB0808567A Active GB2450206B (en) 2007-05-11 2008-05-12 Robotic end effector and clamping method

Country Status (2)

Country Link
US (2) US8096038B2 (en)
GB (1) GB2450206B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8549723B2 (en) 2007-05-11 2013-10-08 The Boeing Company Method and apparatus for squeezing parts such as fasteners

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8096038B2 (en) 2007-05-11 2012-01-17 The Boeing Company Robotic end effector and clamping method
FR2931451B1 (en) * 2008-05-22 2010-12-17 Fmc Technologies Sa CONTROL DEVICE FOR SYSTEM FOR LOADING AND / OR UNLOADING FLUIDS
KR100992814B1 (en) * 2008-06-11 2010-11-08 현대자동차주식회사 Grip device for moving front floor
US20100180711A1 (en) 2009-01-19 2010-07-22 Comau, Inc. Robotic end effector system and method
US8634950B2 (en) 2009-12-14 2014-01-21 Embraer S.A. Automated positioning and alignment method and system for aircraft structures using robots
US9421599B2 (en) 2010-11-16 2016-08-23 Btm Company Llc Clinch clamp
CN103979401B (en) * 2014-05-21 2015-12-02 无锡双友石化机械有限公司 Expanding head installing/dismounting frock
US9616503B2 (en) * 2014-09-10 2017-04-11 The Boeing Company Apparatuses and methods for processing a confined area of a workpiece
US9816967B2 (en) * 2015-05-20 2017-11-14 Spirit Aerosystems, Inc. System and method for machine axis coordination for ultrasonic inspection
DE102015210255A1 (en) * 2015-06-03 2016-12-08 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Method and arrangement for surface machining a stationary mounted workpiece with a mounted on a articulated robot tool
DE102015111227A1 (en) * 2015-07-10 2017-01-12 Heiko Schmidt processing pliers
US10173270B2 (en) 2016-01-29 2019-01-08 The Boeing Company Countersinking device and associated method
US10710245B2 (en) 2016-07-08 2020-07-14 The Boeing Company Quick-change clamp arms for robot end effectors, systems including the same, and related methods
US10329854B2 (en) * 2017-03-08 2019-06-25 Forum Us, Inc. Tubular transfer system and method
US10260542B2 (en) * 2017-04-27 2019-04-16 Tesla, Inc. Clamping assembly for securing together a pair of adjacently located panels
US20190076932A1 (en) * 2017-09-14 2019-03-14 Spirit Aerosystems, Inc. Apparatus and method for minimizing elongation in drilled holes
EP3530419A1 (en) * 2018-02-21 2019-08-28 BAE SYSTEMS plc Actively damped robot
US11389964B2 (en) 2018-02-21 2022-07-19 Bae Systems Plc Actively damped robot
US11128086B2 (en) 2018-05-11 2021-09-21 The Boeing Company Apparatus for contact insertion and retention testing
DE102018121518A1 (en) * 2018-09-04 2020-03-05 Tox Pressotechnik Gmbh & Co. Kg Tool holder and device for cold joining
CN110194410A (en) * 2019-03-23 2019-09-03 山西陆业达冶金机械有限公司 A kind of single, double base clamping centering block regulating device of steel billet clamp
DE102020110770B3 (en) 2020-04-21 2021-09-23 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung eingetragener Verein Device and method for drilling through a component and a workpiece

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4955119A (en) * 1989-07-11 1990-09-11 Imta Multi-task end effector for robotic machining center
WO1994002267A1 (en) * 1992-07-17 1994-02-03 Ariel Industries Plc Compensated balance mounting for fastener applicator
US20010039718A1 (en) * 1997-07-21 2001-11-15 Dieter Mauer Riveting system and process for forming a riveted joint

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB808567A (en) 1955-10-27 1959-02-04 Gen Electric Co Ltd Improvements in or relating to distant control systems
US4885836A (en) 1988-04-19 1989-12-12 Imta Riveting process and apparatus
DE4301270A1 (en) 1992-07-17 1994-01-20 P & P Geotechnik Gmbh Process and device for removing pollutants, especially in the ground area
US6949057B2 (en) 2003-09-02 2005-09-27 The Boeing Company Multi-function end effector
US20060027541A1 (en) * 2004-08-03 2006-02-09 Sun Peter C Programmable non-contact fusion welding apparatus and method
US8549723B2 (en) 2007-05-11 2013-10-08 The Boeing Company Method and apparatus for squeezing parts such as fasteners
US8096038B2 (en) 2007-05-11 2012-01-17 The Boeing Company Robotic end effector and clamping method
US8573070B2 (en) 2011-02-22 2013-11-05 The Boeing Company Force and normality sensing for end effector clamp
US9764464B2 (en) 2011-08-03 2017-09-19 The Boeing Company Robot including telescopic assemblies for positioning an end effector
US9610693B2 (en) 2012-01-17 2017-04-04 The Boeing Company Robot for clamping onto upright frame members

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4955119A (en) * 1989-07-11 1990-09-11 Imta Multi-task end effector for robotic machining center
WO1994002267A1 (en) * 1992-07-17 1994-02-03 Ariel Industries Plc Compensated balance mounting for fastener applicator
US20010039718A1 (en) * 1997-07-21 2001-11-15 Dieter Mauer Riveting system and process for forming a riveted joint

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8549723B2 (en) 2007-05-11 2013-10-08 The Boeing Company Method and apparatus for squeezing parts such as fasteners

Also Published As

Publication number Publication date
US8096038B2 (en) 2012-01-17
US20080277953A1 (en) 2008-11-13
GB0808567D0 (en) 2008-06-18
US8925184B2 (en) 2015-01-06
US20120080897A1 (en) 2012-04-05
GB2450206A (en) 2008-12-17

Similar Documents

Publication Publication Date Title
GB2450206B (en) Robotic end effector and clamping method
EP2275234A4 (en) Multi-joint robot and system
EP2408004A4 (en) Robot provided with end effector, and method for operating the robot
EP2032441A4 (en) Robotic packaging device and method
EP2131713A4 (en) Robot and method for controlling the robot
GB2450397B (en) End effector and methods for constructing composite members
IL230846A (en) Robot iawnmower
EP2525946A4 (en) Robotic end effector system and method
ZA201007207B (en) Painting robot and associated operating method
EP1877644A4 (en) Gripping tool
EP2382939A4 (en) Multi-joint manipulator device and endoscope system having the same
EP2127606A4 (en) Holding device and holding tool
EP2313046A4 (en) Jaw thrust device and method
TWI346033B (en) High temperature robot end effector
PT1961502E (en) Method and device for bending workpieces
EP1752265A4 (en) Manipulator robot
EP2324968A4 (en) Robot and its teaching method
GB0817029D0 (en) Robotic End Effector
GB0615363D0 (en) Workpiece clamp device and method
EP2008772A4 (en) Pliers
GB2435004B (en) Adjustable multiple jaw clamp
EP2308657A4 (en) Robot and its teaching method
EP2136970A4 (en) Moving robot and operating method for same
IL188985A0 (en) Clamping tool
GB0803527D0 (en) Tool and method